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ekf2: remove realignYawGPS() (replaced with yaw estimator)

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This commit is contained in:
Daniel Agar
2022-10-17 12:39:16 -04:00
parent c267cf71c3
commit ed558e199f
4 changed files with 39 additions and 132 deletions
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src/modules/ekf2/EKF/gps_control.cpp
+1 -10
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@@ -127,18 +127,9 @@ void Ekf::controlGpsFusion()
if (resetYawToEKFGSF()) {
ECL_WARN("GPS emergency yaw reset");
}
} else {
// use GPS velocity data to check and correct yaw angle if a FW vehicle
if (_control_status.flags.fixed_wing && _control_status.flags.in_air) {
// if flying a fixed wing aircraft, do a complete reset that includes yaw
_mag_yaw_reset_req = true;
}
_warning_events.flags.gps_fusion_timout = true;
ECL_WARN("GPS fusion timeout - resetting");
}
ECL_WARN("GPS fusion timeout - resetting");
resetVelocityToGps(gps_sample);
resetHorizontalPositionToGps(gps_sample);
}